Alignment of objects in augmented reality

ABSTRACT

Technologies are generally described for aligning objects in augmented reality. In some examples, a processor may be adapted to receive detected image data and virtual object data. In some examples, the processor may further be adapted to generate and apply weights to log-likelihood functions at intensity and feature levels based on the virtual object data and detected image data. In some examples, the processor may further be adapted to add the weighted log-likelihood function at intensity level to the weighted log-likelihood function at feature level to produce a cost function. In some examples, the processor may further be adapted to determine transformation parameters based on the cost function that may be used to align the detected image data with virtual object data.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

In an augmented reality system, a user's view of the real world isenhanced or augmented with additional information generated by acomputing device. Through a display provided to the user, the user maysee virtual geometric objects placed onto real objects in a scene ofinterest. Additionally, non-geometric virtual information may be addedabout real objects and displayed on the display.

BRIEF DESCRIPTION OF THE FIGURES

The foregoing and other features of this disclosure will become morefully apparent from the following description and appended claims, takenin conjunction with the accompanying drawings. Understanding that thesedrawings depict only several embodiments in accordance with thedisclosure and are, therefore, not to be considered limiting of itsscope, the disclosure will be described with additional specificity anddetail through use of the accompanying drawings, in which:

FIG. 1 illustrates some example systems that can be utilized toimplement alignment of objects in augment reality;

FIG. 2 illustrates some example systems that can be utilized toimplement alignment of objects in augment reality;

FIG. 3 depicts a flow diagram for example processes for alignment ofobjects in augment reality;

FIG. 4 depicts a flow diagram for example processes for alignment ofobjects in augment reality;

FIG. 5 illustrates example computer program products for alignment ofobjects in augment reality; and

FIG. 6 is a block diagram illustrating some example computing devicesthat are adapted to perform alignment of objects in augmented reality;all arranged according to at least some embodiments presented herein.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented herein. It will be readily understood that the aspects of thepresent disclosure, as generally described herein, and illustrated inthe Figures, can be arranged, substituted, combined, separated, anddesigned in a wide variety of different configurations, all of which areexplicitly contemplated herein.

This disclosure is generally drawn, inter alia, to methods, apparatus,systems, devices, and computer program products related to alignment ofobjects in augmented reality.

Briefly stated, technologies are generally described for aligningobjects in augmented reality. In some examples, a processor may beadapted to receive detected image data and virtual object data. In someexamples, the processor may further be adapted to generate and applyweights to log-likelihood functions at intensity and feature levelsbased on the virtual object data and detected image data. In someexamples, the processor may further be adapted to add the weightedlog-likelihood function at intensity level to the weightedlog-likelihood function at feature level to produce a cost function. Insome examples, the processor may further be adapted to determinetransformation parameters based on the cost function that may be used toalign the detected image data with virtual object data.

FIG. 1 illustrates some example systems that can be utilized toimplement alignment of objects in augmented reality in accordance withat least some embodiments presented herein. System 100 may include a oneor more sensors 102, a memory 104 and a display 110 all arranged incommunication with a processor 108. Processor 108 may be arranged incommunication with sensors 102 and memory 104 through, for example, anetwork 106. As discussed in more detail below, sensors 102 may beadapted to detect detected image data regarding a real object 116 in ascene of interest 118. Sensors 102 may be further adapted to send thedetected image data to processor 108. Processor 108 may be adapted toretrieve virtual object data from memory 104 regarding a virtual objector objects to be aligned with real object 116. Processor 108 further maybe adapted to retrieve an alignment algorithm from memory 104. Using thealignment algorithm, processor 108 may be adapted to align the virtualobject data with the detected image data to produce an enhanced image ofobject 116. Processor 108 may be adapted to display the enhanced imagein an image 114 of a scene of interest 118 on display 110 for a user112. The components of system 100 could be disposed anywhere inside oroutside scene of interest 118.

FIG. 2 illustrates some example system that can be utilized to implementalignment of objects in augmented reality in accordance with at leastsome embodiments presented herein. The system of FIG. 2 is substantiallysimilar to system 100 of FIG. 1, with additional details. Thosecomponents in FIG. 2 that are labeled identically to components of FIG.1 will not be described again for the purposes of clarity.

Memory 104 may be adapted to store an alignment algorithm 128 andvirtual object data 126. Processor 108 may be adapted to receivedetected image data 130 from sensors 102 relating to object 116. In someexamples, detected image data 130 may include noise and image data inthe form of pixels and feature points. Feature points may include, forexample, features in an image that could be used to align a real imagewith a virtual image. For example, if detected image data 130 relates toa face, a feature could be a nose, eyes, etc. As discussed above,processor 108 may be adapted to receive virtual object data 126.Processor 108 may be adapted to align virtual object data 126 withdetected image data 130 using alignment algorithm 128 to produce anenhanced image 132. Processor 108 may be adapted to display enhancedimage 132 to display 110.

Some example augmented reality applications may benefit from accuratealignment as will be described. If the virtual object data addsinformation regarding an object, the virtual object data shouldaccurately align with an image of real data or the illusion of augmentedreality may be compromised. In an example in the medical field, the realimage could be of an organ and the virtual object data may indicatewhere a tumor exists. Alignment of virtual and real data in such asituation is important.

FIG. 3 depicts a flow diagram for example processes for alignment ofobjects in augmented reality in accordance with at least someembodiments of the present disclosure. The process in FIG. 3 could beimplemented using, for example, system 100 discussed above. An exampleprocess may include one or more operations, actions, or functions asillustrated by one or more of blocks S2, S4, S6, S8, and/or S10.Although illustrated as discrete blocks, various blocks may be dividedinto additional blocks, combined into fewer blocks, or eliminated,depending on the desired implementation. Processing may begin at blockS2.

At block S2, a processor may be adapted to receive detected image dataregarding a real object from a sensor. Processing may continue fromblock S2 to block S4.

At block S4, the processor may be adapted to receive virtual object dataregarding the real object. Processing may continue from block S4 toblock S6.

At block S6, the processor may be adapted to determine transformationparameters. The transformation parameters could be used in atransformation, such as an affine transformation, to map the realdetected image data to the virtual object data. Alternatively, in otherexamples, the transformation parameters could be used to map virtualobject data to the detected image data. In other examples, thetransformation parameters could be used to map both the detected imagedata and virtual object data to an existing image. Processing maycontinue from block S6 to block S8.

At block S8 the processor may be adapted to align the virtual objectdata with the detected image data using the transformation parameters toproduce an enhanced image. Processing may continue from block S8 toblock S10.

At block S10, the processor may be adapted to display the enhanced imageon a display.

FIG. 4 depicts a flow diagram for example processes for alignment ofobjects in augmented reality in accordance with at least someembodiments of the present disclosure. The process in FIG. 4 could beimplemented using, for example, system 100 discussed above and explainsexample operations for S6 of FIG. 3 in more detail. An example processmay include one or more operations, actions, or functions as illustratedby one or more of blocks S22, S24, S30, S32, S34, S36, S38, S40, S42,S44, S46 and/or S48. Although illustrated as discrete blocks, variousblocks may be divided into additional blocks, combined into fewerblocks, or eliminated, depending on the desired implementation.Processing may begin at block S22.

At block S22, a sensor may be adapted to detect detected image datarelating to a real object. Processing may continue from block S22 toblock S24.

At block S24 a processor may be adapted to receive the detected imagedata and virtual object data. For example, the detected image data maybe based on a real object and may include both image data and noisedata. In some examples, the virtual object data may be additionalvirtual information to be added to an image of the object on a display.Processing may continue from block S24 to blocks S30 and S32.

At block S30, the processor may be adapted to generate a log-likelihoodfunction at an intensity level based on the virtual object data and thedetected image data. For example, the intensity levels of the detectedimage data and the virtual object data could be based on comparedintensities for the same modalities. Examples of modalities could bevisual or infrared images. In generating the log-likelihood functions,image transformation models and noise transformation models may be used.In some examples, the image transformation model could include an affinetransformation model, a rigid transformation model, piecewise affinetransformation model, non-rigid or elastic transformation model, etc. Insome examples, the noise transformation model could be based onstatistical properties of noise such as a Gaussian model, a mixtureGaussian model, etc. Processing may continue from block S30 to blockS34.

At block S32, the processor may be adapted to generate a log-likelihoodfunction at a feature level based on the virtual object data and thedetected image data For example, features at selected control points inthe detected image data and the virtual object data could be used.Control points could be selected through, for example, the use of edgedetection algorithms. Other examples of control points could belandmarks or intersections. Continuing with one of the examplesmentioned above, an edge detection algorithm could be used to detect anose on a face in an image. The nose could then be used as a controlpoint for the log-likelihood function at a feature level. Processing maycontinue from block S32 to block S36.

At block S34, the processor may be adapted to apply a first weight w1 tothe log-likelihood function at intensity level to produce a weightedlog-likelihood function at intensity level. Processing may continue fromblock S34 to block S38.

At block S36, the processor may be adapted to apply a second weight w2to the log-likelihood function at feature level to produce a weightedlog-likelihood function at feature level. Weights w1 and w2 may beassigned based on a number of available pixels and features points inthe detected image data and based on a noise power in the detected imagedata. For example, weight w1 for the intensity level data may beassigned a larger value than weight w2 for the feature level data if thenumber of available pixels is greater than the number of availablefeature points in the detected image data. Similarly, a large noisepower at the feature level may cause weight w2 applied to the featurelevel data to be smaller than weight w1. Weights w1 and w2 may be thusproportional to how much information is available such as availablepixels and a level of noise power. In some examples, if the number ofavailable pixels and features is zero or the noise power is very large,a corresponding weight w1, w2 may be set to zero. Processing maycontinue from block S36 to block S38.

At block S38, the processor may be adapted to add the weightedlog-likelihood function at intensity level to the weightedlog-likelihood function at feature level data to produce a costfunction. Among other parameters, the cost function may be a functionof: 1) transformation parameters, such as in an affine transformation 2)feature coordinates and 3) a noise power. As discussed above, thetransformation parameters may be used to align virtual object data 126(FIG. 2) to detected image data 130. Alternatively, detected image data130 may be aligned with virtual object data 126 or both detected imagedata and virtual object data may be aligned to a third image. Thefeature coordinates may be locations of features in detected image data130. Noise power may be a power level of noise in the detected imagedata. Processing may continue from block S38 to S40.

At block S40 the processor may be adapted to estimate the affinetransformation parameters to map the virtual object data to the detectedimage data by minimizing the cost function. For example, all of theparameters may be adjusted to minimize the cost function to obtain afirst estimate of the affine transformation parameters. Processing maycontinue from block S40 to block S42.

At block S42 a loop may be defined so that a processor may be adapted toperform the next three operations until the cost function converges.Processing may continue from block S42 to block S44.

At block S44, the processor may be adapted to estimate featurecoordinates of the cost function. Operation S42 may be performed whilethe affine transformation parameters and noise power parameters of thecost function are held fixed. Processing may continue from block S44 toblock S46.

At block S46, the processor may be adapted to estimate affinetransformation parameters using a current estimate of the featurecoordinates. Processing may continue from block S46 to block S48.

At block S48, the processor may be adapted to estimate a noise power inthe cost function using a current estimate of the feature parameters andthe affine transformation parameters.

An updated cost function may be defined by one or more of blocks S44,S46, and/or S48. The loop defined by block S42 may continue until theupdated cost function converges. For example, the loop defined in blockS42 may continue until changes made in the cost function in operationsS44, S46 and S48 are below a threshold. In another example, the loopdefined by block S42 may continue until one of the likelihood functionsin the cost function does not change beyond a threshold.

An example process for determining a cost function is shown below wherea Gaussian distributed noise model and affine transformation model areshown for illustration purposes.

In the example, system 100 may receive two images: a reference image 126(e.g., virtual image) and a distorted image (e.g., detected real image)130. At a feature level, let X₁(k)=[x₁(k),y₁(k)]^(T) andX₀(k)=[x₀(k),y₀(k)]^(T) denote the true coordinates of the k-thcorresponding feature in the reference and distorted images,respectively, k=1, 2, . . . , N₁, where N₁ is the total number offeatures. These features may be linked by an affine transformation givenby

X ₁(k)=t+RX ₀(k)

where t=[tx,ty]^(T) represents the x- and y-axis translations, R is theaffine transformation matrix between the reference and the distortedimages and is given by

$R = \begin{pmatrix}{1 + r_{11}} & r_{12} \\r_{21} & {1 + r_{22}}\end{pmatrix}$

where the four elements of R cover combinations of rotation, skewing,shearing and scaling between the reference and the distorted images. LetX_(A)(k)=[x_(A)(k),y_(A)(k)]^(T) and X_(B)(k)=[x_(B)(k),y_(B)(k)]^(T)denote the measured coordinates of the corresponding features in thereference and distorted images, respectively. The feature measurementmodel can be expressed as

x _(A)(k)=x ₀(k)+n ₁(k)

y _(A)(k)=y ₀(k)+n ₂(k)

x _(B)(k)=(1+r ₁₁)x ₀(k)+r ₁₂ y ₀(k)+tx+n ₃(k)

y _(B)(k)=r ₂₁ x ₀(k)+(1+r ₂₂)y ₀(k)+ty+n ₄(k)

where n_(i)(i=1, 2, 3, 4) are assumed to be white Gaussian noise withzero mean and variance δ₁ ². The above equation can be re-written in amatrix form as

x(k) = A(k)η + b(k) + n(k) wherex(k) = [(X_(A)(k))^(T), (X_(B)(k))^(T)]^(T)b(k) = [(X₀(k))^(T), (X₀(k))^(T)]^(T)n(k) = [n₁(k), n₂(k), n₃(k), n₄(k)]^(T)η = [r₁₁, r_(12, )r₂₁, r₂₂, t x, t y]^(T)${A(k)} = \begin{pmatrix}0 & 0 & 0 & 0 & 0 & 0 \\0 & 0 & 0 & 0 & 0 & 0 \\{x_{0}(k)} & {y_{0}(k)} & 0 & 0 & 1 & 0 \\0 & 0 & {x_{0}(k)} & {y_{0}(k)} & 0 & 1\end{pmatrix}$

where x(k), n(k), and η represent the vectors for measurements, noise,and registration parameters, respectively. The covariance matrix of n(k)is equal to δ₁ ²I, where I is the identity matrix.

At the intensity measurement level, in the example, the size of thereference image may be M₁×M₂. Let Q denote the overlapping region of thereference and distorted images, and there are N₂ pixels in Ω. Given thecoordinate u₀(i,j)=[u₀(i),ν₀(j)]^(T) of a pixel in the reference image,the coordinate u₁(i, j)=[u₁(i),ν₁(j)]^(T) of the corresponding pixel inthe distorted image can be related by

u ₁(i,j)=t+Ru ₀(i,j)

where again t=[tx,ty]^(T) represents the x- and y-axis translations, Ris the affine transformation matrix between the reference and thedistorted images. Suppose the true values of pixels u₀(i, j) and u₁(i,j) are f₀(u₀(i, j)) and f₁(u,(i, j)), correspondingly, the measurementgray value of the pixel u, (i, j) can be expressed as

f _(A)(u ₁(i,j))=f ₁(u ₁(i,j))+n ₅(i,j)

where n₅ is a white Gaussian noise with zero mean and variance δ₂ ².

Based on the above measurements models at both feature and intensitylevel, the likelihood function can be written as

$L = {\frac{1}{( \sqrt{2\pi} )^{{N\; 1} + {N\; 2}}\delta_{1}^{N\; 1}\delta_{2}^{N\; 2}}L_{1}L_{2}}$where$L_{1} = {\exp( {{- \frac{1}{2\; \delta_{1}^{2}}}{\sum\limits_{k = 1}^{N\; 1}\; {\{ {{x(k)} - {{A(k)}\eta} - {b(k)}} \}^{T}\{ {{x(k)} - {{A(k)}\eta} - {b(k)}} \}}}} )}$$L_{2} = {\exp( {{- \frac{1}{2\; \delta_{2}^{2}}}{\sum\limits_{{({i,j})} \in \Omega}^{N\; 2}\; \{ {{f_{A}( {u_{1}( {i,j} )} )} - {f_{1}( {u_{1}( {i,j} )} )}} \}^{2}}} )}$

Therefore the log-likelihood function may be the sum of twolog-likelihood functions log(L₁) and log(L₂) with weights proportionalto the number of available feature/pixel points.

The cost function may then be the sum of the two log-likelihoodfunctions log(L₁) and log(L₂), and may be minimized. The cost functionis a function of affine transformation parameters η, and the noiseparameters and δ₂ ². Minimization of the cost function will lead to anestimate of those parameters δ₁ ² and δ₁ ² and δ₂ ². Parameters η, δ₁ ²and δ₂ ² are changed to minimize the cost function as discussed above.

Among other benefits, a system arranged in accordance with the presentdisclosure can automatically select an information level to performalignment of real and virtual image data. If intensity level informationor feature level information is not available or of too poor quality, asystem arranged in accordance with the present disclosure can be adaptedto select a level with lower noise. If no intensity level data isavailable, a system arranged in accordance with the present disclosuremay be adapted to use a maximum likelihood approach for feature levelregistration.

FIG. 5 illustrates an example computer program products 300 foralignment of objects in augmented reality in accordance with at leastsome examples of the present disclosure. Program product 300 may includea signal bearing medium 302. Signal bearing medium 302 may include oneor more instructions 304 that, when executed by, for example, aprocessor, may provide at least some of the functions described abovewith respect to FIGS. 1-4. Thus, for example, referring to system 100,processor 108 may undertake one or more of the blocks shown in FIG. 4 inresponse to instructions 304 conveyed to the system 100 by medium 302.

In some implementations, signal bearing medium 302 may encompass acomputer-readable medium 306, such as, but not limited to, a hard diskdrive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape,memory, etc. In some implementations, signal bearing medium 302 mayencompass a recordable medium 308, such as, but not limited to, memory,read/write (R/W) CDs, R/W DVDs, etc. In some implementations, signalbearing medium 302 may encompass a communications medium 310, such as,but not limited to, a digital and/or an analog communication medium(e.g., a fiber optic cable, a waveguide, a wired communications link, awireless communication link, etc.). Thus, for example, program product300 may be conveyed to one or more modules of the system 100 by an RFsignal bearing medium 302, where the signal bearing medium 302 isconveyed by a wireless communications medium 310 (e.g., a wirelesscommunications medium conforming with the IEEE 802.11 standard).

FIG. 6 is a block diagram illustrating some example computing devices400 that are arranged to perform alignment of objects in augmentedreality in accordance with at least some embodiments of the presentdisclosure. In a very basic configuration 402, computing device 400typically includes one or more processors 404 and a system memory 406. Amemory bus 408 may be used for communicating between processor 404 andsystem memory 406.

Depending on the desired configuration, processor 404 may be of any typeincluding but not limited to a microprocessor (μP), a microcontroller(μC), a digital signal processor (DSP), or any combination thereof.Processor 404 may include one more levels of caching, such as a levelone cache 410 and a level two cache 412, a processor core 414, andregisters 416. An example processor core 414 may include an arithmeticlogic unit (ALU), a floating point unit (FPU), a digital signalprocessing core (DSP Core), or any combination thereof. An examplememory controller 418 may also be used with processor 404, or in someimplementations memory controller 418 may be an internal part ofprocessor 404.

Depending on the desired configuration, system memory 406 may be of anytype including but not limited to volatile memory (such as RAM),non-volatile memory (such as ROM, flash memory, etc.) or any combinationthereof. System memory 406 may include an operating system 420, one ormore applications 422, and program data 424. Application 422 may includean alignment of objects in augmented reality algorithm 426 that may bearranged to perform one or more of the functions as described hereinincluding those described with respect to FIGS. 1-5. Program data 424may include alignment data 428 that may be useful for alignment ofobjects in augmented reality as is described herein. In someembodiments, application 422 may be arranged to operate with programdata 424 on operating system 420 such that alignment of objects inaugmented reality may be provided. This described basic configuration402 is illustrated in FIG. 11 by those components within the innerdashed line.

Computing device 400 may have additional features or functionality, andadditional interfaces to facilitate communications between basicconfiguration 402 and any required devices and interfaces. For example,a bus/interface controller 430 may be used to facilitate communicationsbetween basic configuration 402 and one or more data storage devices 432via a storage interface bus 434. Data storage devices 432 may beremovable storage devices 436, non-removable storage devices 438, or acombination thereof. Examples of removable storage and non-removablestorage devices include magnetic disk devices such as flexible diskdrives and hard-disk drives (HDD), optical disk drives such as compactdisk (CD) drives or digital versatile disk (DVD) drives, solid statedrives (SSD), and tape drives to name a few. Example computer storagemedia may include volatile and nonvolatile, removable and non-removablemedia implemented in any method or technology for storage ofinformation, such as computer readable instructions, data structures,program modules, or other data.

System memory 406, removable storage devices 436 and non-removablestorage devices 438 are examples of computer storage media. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical storage, magnetic cassettes, magnetic tape, magneticdisk storage or other magnetic storage devices, or any other mediumwhich may be used to store the desired information and which may beaccessed by computing device 400. Any such computer storage media may bepart of computing device 400.

Computing device 400 may also include an interface bus 440 forfacilitating communication from various interface devices (e.g., outputdevices 442, peripheral interfaces 444, and communication devices 446)to basic configuration 402 via bus/interface controller 430. Exampleoutput devices 442 include a graphics processing unit 448 and an audioprocessing unit 450, which may be configured to communicate to variousexternal devices such as a display or speakers via one or more A/V ports452. Example peripheral interfaces 444 include a serial interfacecontroller 454 or a parallel interface controller 456, which may beconfigured to communicate with external devices such as input devices(e.g., keyboard, mouse, pen, voice input device, touch input device,etc.) or other peripheral devices (e.g., printer, scanner, etc.) via oneor more I/O ports 458. An example communication device 446 includes anetwork controller 460, which may be arranged to facilitatecommunications with one or more other computing devices 462 over anetwork communication link via one or more communication ports 464.

The network communication link may be one example of a communicationmedia. Communication media may typically be embodied by computerreadable instructions, data structures, program modules, or other datain a modulated data signal, such as a carrier wave or other transportmechanism, and may include any information delivery media. A “modulateddata signal” may be a signal that has one or more of its characteristicsset or changed in such a manner as to encode information in the signal.By way of example, and not limitation, communication media may includewired media such as a wired network or direct-wired connection, andwireless media such as acoustic, radio frequency (RF), microwave,infrared (IR) and other wireless media. The term computer readable mediaas used herein may include both storage media and communication media.

Computing device 400 may be implemented as a portion of a small-formfactor portable (or mobile) electronic device such as a cell phone, apersonal data assistant (PDA), a personal media player device, awireless web-watch device, a personal headset device, an applicationspecific device, or a hybrid device that include any of the abovefunctions. Computing device 400 may also be implemented as a personalcomputer including both laptop computer and non-laptop computerconfigurations.

The present disclosure is not to be limited in terms of the particularembodiments described in this application, which are intended asillustrations of various aspects. Many modifications and variations canbe made without departing from its spirit and scope, as will be apparentto those skilled in the art. Functionally equivalent methods andapparatuses within the scope of the disclosure, in addition to thoseenumerated herein, will be apparent to those skilled in the art from theforegoing descriptions. Such modifications and variations are intendedto fall within the scope of the appended claims. The present disclosureis to be limited only by the terms of the appended claims, along withthe full scope of equivalents to which such claims are entitled. It isto be understood that this disclosure is not limited to particularmethods, reagents, compounds compositions or biological systems, whichcan, of course, vary. It is also to be understood that the terminologyused herein is for the purpose of describing particular embodimentsonly, and is not intended to be limiting.

With respect to the use of substantially any plural and/or singularterms herein, those having skill in the art can translate from theplural to the singular and/or from the singular to the plural as isappropriate to the context and/or application. The varioussingular/plural permutations may be expressly set forth herein for sakeof clarity.

It will be understood by those within the art that, in general, termsused herein, and especially in the appended claims (e.g., bodies of theappended claims) are generally intended as “open” terms (e.g., the term“including” should be interpreted as “including but not limited to,” theterm “having” should be interpreted as “having at least,” the term“includes” should be interpreted as “includes but is not limited to,”etc.). It will be further understood by those within the art that if aspecific number of an introduced claim recitation is intended, such anintent will be explicitly recited in the claim, and in the absence ofsuch recitation no such intent is present. For example, as an aid tounderstanding, the following appended claims may contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to embodiments containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should be interpreted to mean “at least one”or “one or more”); the same holds true for the use of definite articlesused to introduce claim recitations. In addition, even if a specificnumber of an introduced claim recitation is explicitly recited, thoseskilled in the art will recognize that such recitation should beinterpreted to mean at least the recited number (e.g., the barerecitation of “two recitations,” without other modifiers, means at leasttwo recitations, or two or more recitations). Furthermore, in thoseinstances where a convention analogous to “at least one of A, B, and C,etc.” is used, in general such a construction is intended in the senseone having skill in the art would understand the convention (e.g., “asystem having at least one of A, B, and C” would include but not belimited to systems that have A alone, B alone, C alone, A and Btogether, A and C together, B and C together, and/or A, B, and Ctogether, etc.). In those instances where a convention analogous to “atleast one of A, B, or C, etc.” is used, in general such a constructionis intended in the sense one having skill in the art would understandthe convention (e.g., “a system having at least one of A, B, or C” wouldinclude but not be limited to systems that have A alone, B alone, Calone, A and B together, A and C together, B and C together, and/or A,B, and C together, etc.). It will be further understood by those withinthe art that virtually any disjunctive word and/or phrase presenting twoor more alternative terms, whether in the description, claims, ordrawings, should be understood to contemplate the possibilities ofincluding one of the terms, either of the terms, or both terms. Forexample, the phrase “A or B” will be understood to include thepossibilities of “A” or “B” or “A and B.”

In addition, where features or aspects of the disclosure are describedin terms of Markush groups, those skilled in the art will recognize thatthe disclosure is also thereby described in terms of any individualmember or subgroup of members of the Markush group.

As will be understood by one skilled in the art, for any and allpurposes, such as in terms of providing a written description, allranges disclosed herein also encompass any and all possible subrangesand combinations of subranges thereof. Any listed range can be easilyrecognized as sufficiently describing and enabling the same range beingbroken down into at least equal halves, thirds, quarters, fifths,tenths, etc. As a non-limiting example, each range discussed herein canbe readily broken down into a lower third, middle third and upper third,etc. As will also be understood by one skilled in the art all languagesuch as “up to,” “at least,” “greater than,” “less than,” and the likeinclude the number recited and refer to ranges which can be subsequentlybroken down into subranges as discussed above. Finally, as will beunderstood by one skilled in the art, a range includes each individualmember. Thus, for example, a group having 1-3 cells refers to groupshaving 1, 2, or 3 cells. Similarly, a group having 1-5 cells refers togroups having 1, 2, 3, 4, or 5 cells, and so forth.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

1. A method for aligning first image data with second image data, themethod comprising, by a processor: receiving first image data, whereinthe first image data relates to a first image; receiving second imagedata, wherein the second image data relates to a second image;generating an intensity level function based on the first and secondimage data; generating a feature level function based on the first andsecond image data; combining the intensity level function and thefeature level function to produce a cost function; and determiningtransformation parameters for the first image data based on the costfunction, wherein the transformation parameters are effective to alignthe first image data with the second image data.
 2. The method of claim1, wherein: the first image data relates to a real image; and the secondimage data relates to a virtual image.
 3. The method of claim 1, furthercomprising applying a weight to at least one of the intensity levelfunction or the feature level function prior to combining the intensitylevel function and the feature level function.
 4. The method of claim 1,further comprising, prior to combining the feature level function andthe intensity level function: applying a first weight to the intensitylevel function to produce a weighted intensity level function; applyinga second weight to the feature level function to produce a weightedfeature level function; and wherein combining includes combining theweighted intensity level function with the weighted feature levelfunction.
 5. The method of claim 4, wherein the first and second weightsare based on feature level information, intensity level information ornoise in at least one of the first and second image.
 6. The method asrecited in claim 4, wherein the first and second weights are based on anumber of pixels in the first image data.
 7. The method as recited inclaim 1, further comprising aligning the first image data with thesecond image data using the transformation parameters to produce anenhanced image.
 8. The method as recited in claim 7, further comprisingdisplaying the enhanced image on a display, wherein the enhanced imageon the display is representative of a virtual object in an augmentedreality system.
 9. The method as recited in claim 1, wherein determiningtransformation parameters for the detected image data comprisesminimizing the cost function.
 10. The method as claimed in claim 1,wherein generating the intensity level function and generating thefeature level function includes using an image transformation model,where the image transformation model is at least one of an affinetransformation model, a rigid transformation model, or an elastictransformation model.
 11. A device effective to align first image datawith second image data, the device comprising: a processor; and a memoryconfigured to be in communication with the processor; the processoreffective to: receive first image data, wherein the first image datarelates to a first image; receive second image data, wherein the secondimage data relates to a second image; generate an intensity levelfunction based on the first and second image data; generate a featurelevel function based on the first and second image data; combine theintensity level function and the feature level function to produce acost function; and determine transformation parameters for the firstimage data based on the cost function, wherein the transformationparameters are effective to align the first image data with the secondimage data.
 12. The device of claim 11, wherein the processor is furthereffective to apply a weight to at least one of the intensity levelfunction or the feature level function prior to combination of theintensity level function and the feature level function.
 13. The deviceof claim 11, wherein the processor is further effective to, prior tocombination of the feature level function and the intensity levelfunction: apply a first weight to the intensity level function toproduce a weighted intensity level function; apply a second weight tothe feature level function to produce a weighted feature level function;and wherein the combination includes a combination of the weightedintensity level function with the weighted feature level function. 14.The device of claim 13, wherein the first and second weights are basedon feature level information, intensity level information or noise in atleast one of the first and second image.
 15. The device of claim 13,wherein the first and second weights are based on a number of pixels inthe first image data.
 16. The device of claim 11, further comprising adisplay configured to be in communication with the processor; andwherein the processor is further effective to: align the first imagedata with the second image data using the transformation parameters toproduce an enhanced image; and display the enhanced image on thedisplay, wherein the enhanced image on the display is representative ofa virtual object in an augmented reality system.
 17. A system effectiveto align first image data with second image data in augmented reality,the system comprising: a processor; a sensor configured to be incommunication with the processor, the sensor effective to detect firstimage data, and send the first image data from the sensor to theprocessor, wherein the first image data relates to a real object; amemory configured to be in communication with the processor; and adisplay configured to be in communication with the processor; whereinthe processor is effective to: receive the first image data, wherein thefirst image data relates to the first image; receive second image data,wherein the second image data relates to a second image; generate anintensity level function based on the first and second image data;generate a feature level function based on the first and second imagedata; combine the intensity level function and the feature levelfunction to produce a cost function; determine transformation parametersfor the first image data based on the cost function, wherein thetransformation parameters are effective to align the first image datawith the second image data; align the first image data with the secondimage data using the transformation parameters to produce an enhancedimage; and display the enhanced image on the display, wherein theenhanced image on the display is representative of a virtual object inan augmented reality system.
 18. The system of claim 17, wherein theprocessor is further effective to apply a weight to at least one of theintensity level function or the feature level function prior tocombination of the intensity level function and the feature levelfunction.
 19. The system of claim 17, wherein the processor is furthereffective to, prior to combination of the feature level function and theintensity level function: apply a first weight to the intensity levelfunction to produce a weighted intensity level function; apply a secondweight to the feature level function to produce a weighted feature levelfunction; and wherein the combination includes a combination of theweighted intensity level function with the weighted feature levelfunction.
 20. The system of claim 17, wherein the first and secondweights are based on feature level information, intensity levelinformation or noise in at least one of the first and second image.